A receive (Rx) UE performs blind detection to decode a first-stage Sidelink Control Information (SCI) in a received signal. The first-stage SCI contains control information for the Rx UE to locate time-and-frequency resources used by a transmit (Tx) UE. The time-and-frequency resources are used to transmit the first-stage SCI and a second-stage SCI via a Physical Sidelink Control Channel (PSCCH) and to transmit data via a Physical Sidelink Shared Channel (PSSCH) associated with the PSCCH. The Rx UE locates the second-stage SCI in the time-and-frequency resources based on the first-stage SCI. The second-stage SCI contains additional control information from the Tx UE to the Rx UE for the sidelink V2X communication. The Rx UE decodes the second-stage SCI using at least in part an identifier which identifies the Rx UE as a destination of the received signal.